Automatic transfer method for bucket wheel stacker-reclaimers

Abstract

This invention provides an automatic relocation method for a bucket wheel stacker-reclaimer, comprising the following steps: 1. Obtaining the initial and target postures of the bucket wheel stacker-reclaimer during relocation, and determining whether the relocation is forward or backward; 2. Constructing an abstract model of the bucket wheel stacker-reclaimer; 3. Obtaining point cloud data of fuel distribution in the relocation area; 4. Calculating the relocation path of the bucket wheel stacker-reclaimer from its initial position to its target position. The automatic relocation method for a bucket wheel stacker-reclaimer provided by this invention, based on point cloud data of fuel distribution in the coal yard, calculates the relocation path of the bucket wheel stacker-reclaimer from its initial position to its target position. This ensures that when the bucket wheel stacker-reclaimer needs to relocate during coal yard operations (i.e., change from one posture to another), the relocation time is minimized and production efficiency is improved while ensuring the safety of the bucket wheel stacker-reclaimer during relocation.

Description

Technical Field

[0001] This invention belongs to the technical field of bucket wheel stacker-reclaimers, specifically relating to an automatic transfer method for bucket wheel stacker-reclaimers. Background Technology

[0002] Currently, the automatic relocation operation of the bucket wheel stacker-reclaimer mainly involves pitching the boom from its initial position, raising it to its pitch limit, rotating the boom to align it with the travel track, controlling the bucket wheel to move, rotating the boom back, and finally pitching the boom down to the target position. From a safety perspective, this relocation method is the safest, but it has the lowest relocation efficiency. Summary of the Invention

[0003] To address the technical problems existing in the prior art, the purpose of this invention is to provide an automatic transfer method for bucket wheel stacker-reclaimers.

[0004] To achieve the above objectives and technical effects, the technical solution adopted by this invention is as follows:

[0005] The automatic transfer method for bucket wheel stacker-reclaimers includes the following steps:

[0006] 1. Obtain the initial and target attitudes of the bucket wheel stacker-reclaimer during its relocation, and determine whether the bucket wheel stacker-reclaimer is relocating forward or backward;

[0007] II. Constructing an abstract model of a bucket wheel stacker-reclaimer;

[0008] 3. Obtain fuel distribution point cloud data in the transfer area;

[0009] IV. Calculate the transfer path of the bucket wheel stacker-reclaimer from the initial position to the target position.

[0010] Furthermore, in step one, the initial attitude of the bucket wheel stacker-reclaimer includes the stroke position, pitch angle, and rotation angle, and the target attitude includes the stroke position, pitch angle, and rotation angle. The bucket wheel stacker-reclaimer moves from position 1 to position 2 as a forward transfer and from position 2 to position 1 as a backward transfer. When the cantilever of the bucket wheel stacker-reclaimer is parallel to the track, it rotates by 0 degrees. The attitude data of the bucket wheel stacker-reclaimer at position 1 is (Position1, PitchAngle1, RotateAngle1), and the attitude data of the bucket wheel stacker-reclaimer at position 2 is (Position2, PitchAngle2, RotateAngle2).

[0011] Furthermore, in step three, it is first determined whether the bucket wheel stacker-reclaimer needs to switch from the current coal yard to another coal yard, and then the fuel distribution point cloud data that needs to be acquired is determined.

[0012] Furthermore, the coal yard is first manually divided into coal yard 1 and coal yard 2. If there is no need to switch coal yards, when the bucket wheel stacker-reclaimer is transferred within the same coal yard 1, the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 2. The range of fuel distribution point cloud data to be acquired in coal yard 1 is:

[0013] [X min ,X max ,Y min ,Y max ]=[Position1,Position2+(radius+Radius*sin(PitchAngle1))*cos(RotateAngle1),DLJYPosition-(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1),DLJYPosition];

[0014] The attitude data of the bucket wheel stacker-reclaimer at position 1 is (Position1, PitchAngle1, RotateAngle1), and the attitude data of the bucket wheel stacker-reclaimer at position 2 is (Position2, PitchAngle2, RotateAngle2). The radius of the rotating platform of the bucket wheel stacker-reclaimer is radius, the cantilever of the bucket wheel stacker-reclaimer is radius, and the Y-axis coordinate of the bucket wheel stacker-reclaimer is DLJYPosition.

[0015] Furthermore, the coal yard is first manually divided into coal yard 1 and coal yard 2. If there is no need to switch coal yards, the bucket wheel stacker-reclaimer will be transferred to coal yard 2. The absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 2. The range of fuel distribution point cloud data to be acquired in coal yard 1 is:

[0016] [X min ,X max ,Y min ,Y max ]=[Position1,Position2+(radius+Radius*sin(PitchAngle1))*cos(RotateAngle1),DLJYPosition,DLJYPosition+(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1)].

[0017] Furthermore, if there is no need to switch coal yards, when the bucket wheel stacker-reclaimer is transferred within the same coal yard 1, the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 2. The range of fuel distribution point cloud data to be acquired in coal yard 2 is:

[0018] [X min ,X max ,Y min ,Y max ]=[Position1,Position2+(radius+Radius*sin(PitchAngle2))*cos(RotateAngle2),DLJYPosition,DLJYPosition-(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2)].

[0019] Furthermore, the coal yard is first manually divided into coal yard 1 and coal yard 2. If there is no need to switch coal yards, the bucket wheel stacker-reclaimer will be transferred within the same location in coal yard 2. The absolute value of the rotation angle of the bucket wheel stacker-reclaimer at location 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at location 2. The range of fuel distribution point cloud data to be acquired in coal yard 2 is:

[0020] [X min ,X max ,Y min ,Y max ]=[Position1,Position2+(radius+Radius*sin(PitchAngle2))*cos(RotateAngle2),DLJYPosition-(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2),DLJYPosition].

[0021] Furthermore, the coal yard is first manually divided into coal yard 1 and coal yard 2. If a switch between coal yards is required, when the bucket wheel stacker-reclaimer moves from coal yard 1 to coal yard 2, the range of fuel distribution point cloud data that needs to be acquired is:

[0022] [X min X max Y min Y max]=[Position1, Position2+radius+Radius, DLJYPosition-(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1), DLJYPosition+(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2)].

[0023] Furthermore, the coal yard is first manually divided into coal yard 1 and coal yard 2. If a switch between coal yards is required, when the bucket wheel stacker-reclaimer moves from coal yard 2 to coal yard 1, the range of fuel distribution point cloud data that needs to be acquired is:

[0024] [X min X max Y min Y max ]=[Position1,Position2+radius+Radius,DLJYPosition-(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2),DLJYPosition+(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1)].

[0025] Furthermore, in step four, the automatic transfer action of the bucket wheel stacker-reclaimer is decomposed into six actions, each of which performs one of the following actions: walking, turning, or pitching. The attitude data for each action point is calculated using the following method:

[0026] 1) First, obtain the point cloud data P = {{x1,y1,z1},{x2,y2,z2},...} within the range of the rotation angle from the starting position to the target position. Then, by traversing the point cloud data, obtain the point cloud data P' = {{x1,y1,z1},{x2,y2,z2},...} within the rotation radius of the bucket wheel stacker-reclaimer's initial position. Calculate the safe pitch angle of the bucket wheel stacker-reclaimer using the following formula:

[0027]

[0028] Wherein, DLJXPosition is the X-axis coordinate of the bucket wheel stacker-reclaimer at that point;

[0029] If Angle = Max({angle1, angle2, ...}) is greater than the pitch angle of the target position of the bucket wheel stacker-reclaimer, then the bucket wheel stacker-reclaimer needs to pitch upwards to the Angle angle at the initial position and then rotate back to the rotation angle at the target position.

[0030] Conversely, if Angle = Max({angle1, angle2, ...}) is less than the pitch angle of the bucket wheel stacker-reclaimer at the initial position, then the bucket wheel stacker-reclaimer does not need to pitch at the initial position and can directly rotate to the target position at the desired rotation angle.

[0031] 2) After step 1), the bucket wheel stacker-reclaimer completes the rotation angle value from the initial position to the target position. Next, by traversing the point cloud data P from step 1), the point cloud data P”={{x1,y1,z1},{x2,y2,z2},...} under the cantilever of the bucket wheel stacker-reclaimer from the initial position to the target position is obtained. The safe pitch angle of the bucket wheel stacker-reclaimer is calculated according to the above formula.

[0032] If Angle = Max({angle1, angle2, ...}) is greater than the pitch angle of the target position of the bucket wheel stacker-reclaimer, then the bucket wheel stacker-reclaimer needs to pitch upwards to the Angle angle from the initial position and travel to the target position.

[0033] Conversely, if Angle = Max({angle1, angle2, ...}) is less than the pitch angle of the bucket wheel stacker-reclaimer at its initial position, then the bucket wheel stacker-reclaimer does not need to pitch at its initial position and can directly rotate and travel to the target position.

[0034] 3) After step 2), the bucket wheel stacker-reclaimer pitches at the target position until the target pitch angle is reached;

[0035] By executing the above steps, the transfer path of the bucket wheel stacker-reclaimer from the initial position to the target position is calculated. The calculated six action posture data are written into the PLC control system, and the PLC control system executes them in sequence to realize the automatic and efficient transfer operation of the bucket wheel stacker-reclaimer.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] This invention provides an automatic relocation method for a bucket wheel stacker-reclaimer, comprising the following steps: 1. Obtaining the initial and target postures of the bucket wheel stacker-reclaimer during relocation, and determining whether the relocation is forward or backward; 2. Constructing an abstract model of the bucket wheel stacker-reclaimer; 3. Obtaining point cloud data of fuel distribution in the relocation area; 4. Calculating the relocation path of the bucket wheel stacker-reclaimer from its initial position to its target position. The automatic relocation method for a bucket wheel stacker-reclaimer provided by this invention, based on point cloud data of fuel distribution in the coal yard, calculates the relocation path of the bucket wheel stacker-reclaimer from its initial position to its target position. This ensures that when the bucket wheel stacker-reclaimer needs to relocate during coal yard operations (i.e., change from one posture to another), the relocation time is minimized and production efficiency is improved while ensuring the safety of the bucket wheel stacker-reclaimer during relocation. Attached Figure Description

[0038] Figure 1 This is a map showing the coal yard area division in Embodiment 1 of the present invention;

[0039] Figure 2 This is an abstract model diagram of the bucket wheel stacker-reclaimer according to Embodiment 1 of the present invention;

[0040] Figure 3 This is the range map of fuel distribution point cloud data that needs to be obtained in coal yard 1 when there is no need to switch coal yards in Embodiment 1 of the present invention;

[0041] Figure 4 This is the range map of fuel distribution point cloud data that needs to be obtained in coal yard 2 when there is no need to switch coal yards in Embodiment 1 of the present invention;

[0042] Figure 5 This is the range map of fuel distribution point cloud data that needs to be obtained when switching coal yards in Embodiment 1 of the present invention;

[0043] Figure 6 This is a diagram showing the transfer path of the bucket wheel stacker-reclaimer in Embodiment 1 of the present invention. Detailed Implementation

[0044] The present invention will now be described in detail so that its advantages and features can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0045] The following provides a brief overview of one or more aspects to offer a basic understanding of them. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form to prepare for the more detailed descriptions that follow.

[0046] Example 1

[0047] like Figure 1-6 As shown, the automatic transfer method of the bucket wheel stacker-reclaimer includes the following steps:

[0048] 1. Manually divide the coal yard into Coal Yard 1 and Coal Yard 2. Obtain the initial attitude (stroke position, pitch angle, slewing angle) and target attitude (stroke position, pitch angle, slewing angle) of the bucket wheel stacker-reclaimer during its relocation, and determine whether the bucket wheel stacker-reclaimer is relocating forward or backward; for example... Figure 1 As shown, the straight line Dou represents the bucket wheel stacker-reclaimer. The attitude data of the bucket wheel stacker-reclaimer at position 1 is (Position1, PitchAngle1, RotateAngle1), and the attitude data of the bucket wheel stacker-reclaimer at position 2 is (Position2, PitchAngle2, RotateAngle2). The transition from position 1 to position 2 is a forward transition, and the transition from position 2 to position 1 is a backward transition. When the cantilever of the bucket wheel stacker-reclaimer is parallel to the track, it means that the rotation is 0 degrees.

[0049] II. Constructing an abstract model of a bucket wheel stacker-reclaimer

[0050] like Figure 2 As shown, the rotating platform height of the bucket wheel stacker-reclaimer is height, the rotating platform radius is radius, the cantilever of the bucket wheel stacker-reclaimer is radius, and the Y-axis coordinate of the bucket wheel stacker-reclaimer is DLJYPosition.

[0051] Third, acquire point cloud data of fuel distribution in the relocation area. Point cloud data can be acquired using a laser scanner installed on the roof of the shed or on the bucket wheel stacker-reclaimer. First, determine whether the bucket wheel stacker-reclaimer needs to switch from the current coal yard to another coal yard:

[0052] If there is no need to switch coal yards, then the range of the acquired point cloud data for the coal yard is as follows: Figure 3-4 As shown, the area within the dashed box represents the point cloud data to be acquired. The size of the dashed box varies depending on the following four cases:

[0053] 1) such as Figure 3 As shown, if a transfer is carried out within coal yard 1, and the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 2, then the size of the dashed box is:

[0054] [X min ,X max ,Y min ,Y max]=[Position1,Position2+(radius+Radius*sin(PitchAngle1))*cos(RotateAngle1),DLJYPosition-(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1),DLJYPosition]

[0055] 2) such as Figure 3 As shown, if a transfer is carried out within coal yard 2, and the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 2, then the size of the dashed box is:

[0056] [X min ,X max Y min ,Y max ]=[Position1,Position2+(radius+Radius*sin(PitchAngle1))*cos(RotateAngle1),DLJYPosition,DLJYPosition+(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1)]

[0057] 3) such as Figure 4 As shown, if a transfer is carried out within coal yard 1, and the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 2, then the size of the dashed box is:

[0058] [X min ,X max ,Y min ,Y max ]=[Position1,Position2+(radius+Radius*sin(PitchAngle2))*cos(RotateAngle2),DLJYPosition,DLJYPosition-(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2)]

[0059] 4) such as Figure 4 As shown, if a transfer is carried out within coal yard 2, and the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 1 is greater than the absolute value of the rotation angle of the bucket wheel stacker-reclaimer at position 2, then the size of the dashed box is:

[0060] [X min ,Xmax ,Y min ,Y max ]=[Position1,Position2+(radius+Radius*sin(PitchAngle2))*cos(RotateAngle2),DLJYPosition-(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2),DLJYPosition]

[0061] If it is necessary to switch coal yards, then the range of the point cloud data of the acquired coal yards is as follows: Figure 5 As shown, the area within the dashed box represents the point cloud data to be acquired. The size of the dashed box varies depending on the case:

[0062] 1) If the bucket wheel stacker-reclaimer is transferred from coal yard 1 to coal yard 2, then the size of the dashed box is:

[0063] [X min X max Y min Y max ]=[Position1,Position2+radius+Radius,DLJYPosition-(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1),DLJYPosition+(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2)]

[0064] 2) If the bucket wheel stacker-reclaimer is transferred from coal yard 2 to coal yard 1, then the size of the dashed box is:

[0065] [X min X max Y min Y max ]=[Position1,Position2+radius+Radius,DLJYPosition-(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2),DLJYPosition+(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1)]

[0066] After the above judgment, laser point cloud data can be obtained within the defined dashed box area, and the transfer path of the bucket wheel stacker-reclaimer can be calculated. The automatic transfer action of the bucket wheel stacker-reclaimer can be decomposed into 6 actions, each of which performs one of the following: travel, rotation, or pitch. Figure 6 As shown, 1-1 represents the initial position, 2-1 represents the pitch at the initial position, 3-1 represents the rotation angle from the initial position to the target position, 4-1 represents the pitch at the initial position, 5-1 represents the movement from the initial position to the target position, and 6-1 represents the pitch at the target position. During the execution of the above actions, the attitude data of the bucket wheel stacker-reclaimer at each action point can be calculated using the following method:

[0067] 1) First, obtain the point cloud data P = {{x1,y1,z1},{x2,y2,z2},...} within the range of the rotation angle from the starting position to the target position. Then, by traversing the point cloud data, obtain the point cloud data P' = {{x1,y1,z1},{x2,y2,z2},...} within the rotation radius of the bucket wheel stacker-reclaimer's initial position. Calculate the safe pitch angle of the bucket wheel stacker-reclaimer using the following formula:

[0068]

[0069] Wherein, DLJXPosition is the X-axis coordinate of the bucket wheel stacker-reclaimer at that point;

[0070] If Angle = Max({angle1, angle2, ...}) is greater than the pitch angle of the target position of the bucket wheel stacker-reclaimer, then the bucket wheel stacker-reclaimer needs to pitch upwards to the Angle angle at the initial position and then rotate back to the rotation angle at the target position.

[0071] Conversely, if Angle = Max({angle1, angle2, ...}) is less than the pitch angle of the bucket wheel stacker-reclaimer at the initial position, then the bucket wheel stacker-reclaimer does not need to pitch at the initial position and can directly rotate to the target position at the desired rotation angle.

[0072] 2) After step 1), the bucket wheel stacker-reclaimer completes the rotation angle from the initial position to the target position, i.e. Figure 6 The actions of points 1-1, 2-1, and 3-1 are shown. Next, by traversing the point cloud data P from step 1), the point cloud data P”={{x1,y1,z1},{x2,y2,z2},...} under the cantilever of the bucket wheel stacker-reclaimer at the initial position of the machine traveling to the target position is obtained. The safe pitch angle of the bucket wheel stacker-reclaimer is calculated according to the above formula.

[0073] If Angle = Max({angle1, angle2, ...}) is greater than the pitch angle of the target position of the bucket wheel stacker-reclaimer, then the bucket wheel stacker-reclaimer needs to pitch upwards to the Angle angle from the initial position and travel to the target position.

[0074] Conversely, if Angle = Max({angle1, angle2, ...}) is less than the pitch angle of the bucket wheel stacker-reclaimer at its initial position, then the bucket wheel stacker-reclaimer does not need to pitch at its initial position and can directly rotate and travel to the target position.

[0075] 3) After step 2), the bucket wheel stacker-reclaimer pitches at the target position until the target pitch angle is reached;

[0076] By executing the above steps, the transfer path calculation of the bucket wheel stacker-reclaimer from the initial position to the target position is finally realized. The calculated six action posture data are written into the PLC control system, which executes them in sequence to realize the automatic and efficient transfer operation of the bucket wheel stacker-reclaimer.

[0077] Any parts or structures not specifically described in this invention can be made using existing technologies or products, and will not be elaborated upon here.

[0078] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic transfer method for a bucket wheel stacker-reclaimer, characterized in that, Includes the following steps:

1. Obtain the initial and target attitudes of the bucket wheel stacker-reclaimer during its relocation, and determine whether the bucket wheel stacker-reclaimer is relocating forward or backward; II. Constructing an abstract model of a bucket wheel stacker-reclaimer; 3. Obtain fuel distribution point cloud data in the transfer area; IV. Calculate the transfer path of the bucket wheel stacker-reclaimer from the initial position to the target position; In step four, the automatic transfer action of the bucket wheel stacker-reclaimer is decomposed into six actions, each of which performs one of the following actions: walking, turning, or pitching. The attitude data for each action point is calculated using the following method: 1) First, obtain the point cloud data P = {{x1,y1,z1},{x2,y2,z2},...} within the range of the rotation angle from the starting position to the target position. Then, by traversing the point cloud data, obtain the point cloud data P' = {{x1,y1,z1},{x2,y2,z2},...} within the rotation radius of the bucket wheel stacker-reclaimer's initial position. Calculate the safe pitch angle of the bucket wheel stacker-reclaimer using the following formula: Wherein, DLJXPosition is the X-axis coordinate of the bucket wheel stacker-reclaimer at this point, DLJYPosition is the Y-axis coordinate of the bucket wheel stacker-reclaimer, and height is the height of the rotating platform of the bucket wheel stacker-reclaimer; If Angle = Max({angle1, angle2, ...}) is greater than the pitch angle of the target position of the bucket wheel stacker-reclaimer, then the bucket wheel stacker-reclaimer needs to pitch upwards to the Angle angle at the initial position and then rotate back to the rotation angle at the target position. Conversely, if Angle = Max({angle1, angle2, ...}) is less than the pitch angle of the bucket wheel stacker-reclaimer at the initial position, then the bucket wheel stacker-reclaimer does not need to pitch at the initial position and can directly rotate to the target position at the desired rotation angle. 2) After step 1), the bucket wheel stacker-reclaimer completes the rotation angle value from the initial position to the target position. Next, by traversing the point cloud data P from step 1), the point cloud data P”={{x1,y1,z1},{x2,y2,z2},...} under the cantilever of the bucket wheel stacker-reclaimer from the initial position to the target position is obtained. The safe pitch angle of the bucket wheel stacker-reclaimer is calculated according to the above formula. If Angle = Max({angle1, angle2, ...}) is greater than the pitch angle of the target position of the bucket wheel stacker-reclaimer, then the bucket wheel stacker-reclaimer needs to pitch upwards to the Angle angle from the initial position and travel to the target position. Conversely, if Angle = Max({angle1, angle2, ...}) is less than the pitch angle of the bucket wheel stacker-reclaimer at its initial position, then the bucket wheel stacker-reclaimer does not need to pitch at its initial position and can directly rotate and travel to the target position. 3) After step 2), the bucket wheel stacker-reclaimer pitches at the target position until the target pitch angle is reached; By executing the above steps, the transfer path of the bucket wheel stacker-reclaimer from the initial position to the target position is calculated. The calculated six action posture data are written into the PLC control system, and the PLC control system executes them in sequence to realize the automatic and efficient transfer operation of the bucket wheel stacker-reclaimer.

2. The automatic transfer method for a bucket wheel stacker-reclaimer according to claim 1, characterized in that, In step one, the initial attitude of the bucket wheel stacker-reclaimer includes the travel position, pitch angle, and rotation angle, and the target attitude includes the travel position, pitch angle, and rotation angle. The bucket wheel stacker-reclaimer moves forward from position 1 to position 2 and backward from position 2 to position 1. When the cantilever of the bucket wheel stacker-reclaimer is parallel to the track, it rotates 0 degrees. The attitude data of the bucket wheel stacker-reclaimer at position 1 is (Position1, PitchAngle1, RotateAngle1), and the attitude data of the bucket wheel stacker-reclaimer at position 2 is (Position2, PitchAngle2, RotateAngle2).

3. The automatic transfer method for a bucket wheel stacker-reclaimer according to claim 1, characterized in that, In step three, first determine whether the bucket wheel stacker-reclaimer needs to switch from the current coal yard to another coal yard, and then determine the fuel distribution point cloud data that needs to be acquired; The attitude data of the bucket wheel stacker-reclaimer at position 1 is (Position1, PitchAngle1, RotateAngle1), and the attitude data of the bucket wheel stacker-reclaimer at position 2 is (Position2, PitchAngle2, RotateAngle2). The radius of the rotating platform of the bucket wheel stacker-reclaimer is radius, the cantilever of the bucket wheel stacker-reclaimer is radius, and the Y-axis coordinate of the bucket wheel stacker-reclaimer is DLJYPosition.

4. The automatic transfer method for a bucket wheel stacker-reclaimer according to claim 3, characterized in that, First, the coal yard is manually divided into Coal Yard 1 and Coal Yard 2. If a switch between coal yards is required, when the bucket wheel stacker-reclaimer moves from Coal Yard 1 to Coal Yard 2, the range of fuel distribution point cloud data that needs to be acquired is: [X min ,X max ,Y min ,Y max ]=[Position1,Position2+radius+Radius,DLJYPosition-(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1),DLJYPosition+(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2)]。 5. The automatic transfer method for a bucket wheel stacker-reclaimer according to claim 3, characterized in that, First, the coal yard is manually divided into Coal Yard 1 and Coal Yard 2. If a switch between coal yards is required, when the bucket wheel stacker-reclaimer moves from Coal Yard 2 to Coal Yard 1, the range of fuel distribution point cloud data that needs to be acquired is: [X min ,X max ,Y min ,Y max ]=[Position1,Position2+radius+Radius,DLJYPosition-(radius+Radius*cos(PitchAngle2))*sin(RotateAngle2),DLJYPosition+(radius+Radius*cos(PitchAngle1))*sin(RotateAngle1)]。

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